/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "S_UART.h"
#include "S_ENCODER.h"
#include "S_SYSTICK.h"
#include "S_MPU9250.h"
#include "inv_mpu.h"
#include "S_MOTOR.h"
#include "S_PID.h"
#include "S_CarTask.h"
#include "S_PS2.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

PID_t Ang;
extern PID_t motor1;
extern PID_t pos1;
extern PID_t motor2;
extern PID_t pos2;
float Lwheelpos;
float Rwheelpos;
float pitch, roll, yaw;
uint8_t mpuinitflag = 0;
extern char Rx1Buffer[RXBUFFERSIZE];
extern uint8_t aRx1Buffer;
extern uint8_t Ps2Data[9];

Mession_t myarray[] = {
    {.type = TURN, .angle = 180, .redo = 1},
};
Mession_t *tasklist = NULL;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */
void SendData_f(void);
void Pose_Ctrl_f(void);
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
  /* USER CODE BEGIN 1 */

  // tasklist = CreateMessionListFromArray(myarray, 1);
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  char buf[20] = "S_1,T_180,R_r0.1t30\n";
  // tasklist = CreateMessionListFromStr(buf);
  // ShowMeMessionList(tasklist);
  Period_t SendData = {.fun = &SendData_f, .n = -1, .period = 20, .TargetTick = 0};
  Period_t Pose_Ctrl = {.fun = &Pose_Ctrl_f, .n = -1, .period = 10, .TargetTick = 0};
  PIDInit(&Ang, 0.01, 1000, 1000, 0.008);
  PIDConfig(&Ang, 0.001, 0, 0.00005);
  // PIDConfig(&Ang, 0.001, 0, 0.0000);
  Lwheelpos = 0;
  Rwheelpos = 0;
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, 0);
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, 0);
  HAL_Delay(1000);
  UART_printf(&huart1, "mpu init start!\n");
  if (!mpu_dmp_init())
    UART_printf(&huart1, "mpu init ok!\n");
  else
  {
    HAL_GPIO_WritePin(ERROR_LED_GPIO_Port, ERROR_LED_Pin, 1);
    while (1)
      ;
  }
  mpuinitflag = 1;

  MOTORInit(0b1100);
  MOTORCtrl(0, 1);
  MOTORCtrl(0, 2);
  MOTORPosCtrlInit();

  PIDSetTarget(&Ang, 0);
  HAL_UART_Receive(&huart1, (uint8_t *)&aRx1Buffer, 1, 0xff);
  HAL_UART_Receive_IT(&huart1, (uint8_t *)&aRx1Buffer, 1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    do_sth_period(&Pose_Ctrl);
    // do_sth_period(&SendData);
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
   */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
 * @brief NVIC Configuration.
 * @retval None
 */
static void MX_NVIC_Init(void)
{
  /* USART1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(USART1_IRQn);
}

/* USER CODE BEGIN 4 */
void SendData_f(void)
{
  static float step = 0.02f;
  UART_printf(&huart1, "%f,%f\n", motor1.current, motor2.current);
  // if (tasklist == NULL)
  // {
  //   GetPs2Data();
  //   if (!(Ps2Data[4] & (0b1 << 7)))
  //   {
  //     step = 0.005f;
  //   }
  //   else if (!(Ps2Data[5] & (0b1 << 0)))
  //   {
  //     step = 0.01f;
  //   }
  //   else
  //     step = 0.02f;

  //   if (!(Ps2Data[4] & (0b1 << 2)))
  //   {
  //     Ang.target = yaw_calc_plus(Ang.target, -4);
  //   }
  //   if (!(Ps2Data[4] & (0b1 << 0)))
  //   {
  //     Ang.target = yaw_calc_plus(Ang.target, 4);
  //   }

  //   if (!(Ps2Data[5] & (0b1 << 1)))
  //   {
  //     Lwheelpos += step;
  //     Rwheelpos += step;
  //   }
  //   if (!(Ps2Data[5] & (0b1 << 3)))
  //   {
  //     Lwheelpos -= step;
  //     Rwheelpos -= step;
  //   }
  //   // UART_printf(&huart1, "%x,%x\n", Ps2Data[4], Ps2Data[5]);
  // }
  // Ang.target = yaw_calc_plus(Ang.target,90.0f);
  // pos1.target += 1;
  // pos2.target += 1;
}
void Pose_Ctrl_f(void)
{
  if (tasklist == NULL)
  {
    Ang.current = yaw;
    PID_Calc_yaw(&Ang);
    Lwheelpos += Ang.OUT;
    Rwheelpos -= Ang.OUT;
    MOTORPosCtrl(Lwheelpos, Rwheelpos);

    UART_printf(&huart1, "%.1f,%.1f,%.1f\n", pitch, roll, yaw);
    // UART_printf(&huart1,"%f,%f\n",motor1.OUT,motor1.current);
    // UART_printf(&huart1, "%.1f,%.1f,%.1f,%.1f,%f,%f\n", pitch, roll, yaw,Ang.target,Ang.OUT,Ang.current);
    // UART_printf(&huart1, "L,R:%f,%f\n", Lwheelpos, Rwheelpos);
    tasklist = CreateMessionListFromUART();
  }
  else if (RunTask(tasklist))
  {
    FreeMessionList(tasklist);
    tasklist = NULL;
    MOTORPosCtrl(Lwheelpos, Rwheelpos);
    // Lwheelpos = -pos1.current;
    // Rwheelpos = -pos2.current;

    UART_printf(&huart1, "%.1f,%.1f,%.1f\n", pitch, roll, yaw);
  }
  else
  {
    UART_printf(&huart1, "%.1f,%.1f,%.1f\n", pitch, roll, yaw);
  }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{

  ENCODER_Callback(GPIO_Pin);//软件编码器

  // 中断读取mpu9250的输出
  if (GPIO_Pin == MPU_INT_Pin)
  {
    float pitch_t, roll_t, yaw_t;
    if (mpuinitflag)
    {
      if (!mpu_mpl_get_data(&pitch_t, &roll_t, &yaw_t))
      {
        HAL_GPIO_WritePin(ERROR_LED_GPIO_Port, ERROR_LED_Pin, 1);
        pitch = pitch_t;
        roll = roll_t;
        yaw = yaw_t;
      }
      else
        HAL_GPIO_WritePin(ERROR_LED_GPIO_Port, ERROR_LED_Pin, 0);
    }
  }
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
    UART_printf(&huart1, "loop!\n");
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
